Print Email Facebook Twitter Social-Aware Planning and Control for Automated Vehicles Based on Driving Risk Field and Model Predictive Contouring Control Title Social-Aware Planning and Control for Automated Vehicles Based on Driving Risk Field and Model Predictive Contouring Control: Driving Through Roundabouts as a Case Study Author Zhang, Li (City University of Hong Kong) Dong, Y. (TU Delft Transport and Planning) Farah, H. (TU Delft Transport and Planning) van Arem, B. (TU Delft Transport and Planning) Date 2023 Abstract The gradual deployment of automated vehicles (AVs) results in mixed traffic where AVs will interact with human-driven vehicles (HDVs). Thus, social-aware motion planning and control while considering interactions with HDVs on the road is critical for AVs' deployment and safe driving under various maneuvers. Previous research mostly focuses on the trajectory planning of AVs using Model Predictive Control or other relevant methods, while seldom considering the integrated planning and control of AVs altogether to simplify the whole pipeline architecture. Furthermore, there are very limited studies on social-aware driving that makes AVs understandable and expected by human drivers, and none when it comes to the challenging maneuver of driving through roundabouts. To fill these research gaps, this paper develops an integrated social-aware planning and control algorithm for AVs' driving through roundabouts based on Driving Risk Field (DRF), Social Value Orientation (SVO), and Model Predictive Contouring Control (MPCC), i.e., DRF-SVO-MPCC. The proposed method is tested and verified with simulation on the open-sourced highway-env platform. Compared with the baseline method using purely Nonlinear Model Predictive Control, the DRF-SVO-MPCC can achieve better performance under various maneuvers of driving through roundabouts with and without surrounding HDVs. Subject Automated vehiclesPlanning and controlSocialaware drivingRoundaboutsDriving Risk FieldModel Predictive Contouring Control To reference this document use: http://resolver.tudelft.nl/uuid:afe6d63d-0839-4d94-bdfc-71fa7eed3650 DOI https://doi.org/10.1109/SMC53992.2023.10394462 Publisher IEEE Embargo date 2024-04-04 ISBN 9798350337020 Source 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC): Improving the Quality of Life, SMC 2023 - Proceedings Series Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, 1062-922X Bibliographical note Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2023 Li Zhang, Y. Dong, H. Farah, B. van Arem Files PDF Social-Aware_Planning_and ... _Study.pdf 695.46 KB Close viewer /islandora/object/uuid:afe6d63d-0839-4d94-bdfc-71fa7eed3650/datastream/OBJ/view